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[Krobot-commits] [SCM] krobot branch, master, updated. 3f23696522eefa513a92a375459c998e5899df2d
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From: Olivier B. <Ba...@us...> - 2010-03-07 11:52:05
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The branch, master has been updated
via 3f23696522eefa513a92a375459c998e5899df2d (commit)
from 47260998a8e90353bc2184ad640df1993da7c630 (commit)
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- Log -----------------------------------------------------------------
commit 3f23696522eefa513a92a375459c998e5899df2d
Author: Olivier BICHLER <oli...@gm...>
Date: Sun Mar 7 12:50:18 2010 +0100
Implemented getRealPosition()
-----------------------------------------------------------------------
Changes:
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 7bcdd54..2745ac4 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -603,6 +603,27 @@ void stop(char axis, WORD type) {
}
/**
+ * Rp la position vtable des moteurs drminpar les LMs
+ *
+ * @param axis l'axe moteur correspondant au LM, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * (spfier les #MOTOR_BOTH est bien demment impossible)
+*/
+DWORD getRealPosition(char axis) {
+ DWORD_VAL posData;
+
+ if (axis == MOTOR_BOTH)
+ return 0;
+ else {
+ writeCommand(axis, LM_CMD_RDRP);
+ posData.word.HW = readDataWord(axis);
+ posData.word.LW = readDataWord(axis);
+ return posData.Val;
+ }
+}
+
+/**
* Rp la vitesse vtable des moteurs drminpar les LMs
*
* @param axis l'axe moteur correspondant au LM, peut valoir : @n
@@ -619,7 +640,6 @@ DWORD getRealVelocity(char axis) {
writeCommand(axis, LM_CMD_RDRV);
velData.word.HW = readDataWord(axis);
velData.word.LW = 0;
-
return velData.Val;
}
}
@@ -836,23 +856,11 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
}
WORD getRelPosRight() {
- DWORD_VAL pos;
-
- writeCommand(MOTOR_RIGHT, LM_CMD_RDRP);
- pos.word.HW = readDataWord(MOTOR_RIGHT);
- pos.word.LW = readDataWord(MOTOR_RIGHT);
-
- return ((float) ((long) pos.Val - (long) posRight.Val) / (float) COEF_RIGHT_WHEEL);
+ return ((float) ((long) getRealPosition(MOTOR_RIGHT) - (long) posRight.Val) / (float) COEF_RIGHT_WHEEL);
}
WORD getRelPosLeft() {
- DWORD_VAL pos;
-
- writeCommand(MOTOR_LEFT, LM_CMD_RDRP);
- pos.word.HW = readDataWord(MOTOR_LEFT);
- pos.word.LW = readDataWord(MOTOR_LEFT);
-
- return ((float) ((long) pos.Val - (long) posLeft.Val) / (float) COEF_LEFT_WHEEL);
+ return ((float) ((long) getRealPosition(MOTOR_LEFT) - (long) posLeft.Val) / (float) COEF_LEFT_WHEEL);
}
/**
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index 5792929..2107c1c 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -214,6 +214,7 @@ void resetInterrupt(char axis);
void initLM(char axis, WORD kp, WORD ki, WORD kd, WORD il);
// Fonctions de rptions des grandeurs actuelles
+DWORD getRealPosition(char axis);
DWORD getRealVelocity(char axis);
// Fonctions de gration des trajectoires
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 230b7b9..385678c 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -756,19 +756,13 @@ void ProcessIO(void) {
break;
case GET_CURRENT_POS:
- writeCommand(MOTOR_RIGHT, LM_CMD_RDRP);
- dword.word.HW = readDataWord(MOTOR_RIGHT);
- dword.word.LW = readDataWord(MOTOR_RIGHT);
-
+ dword.Val = getRealPosition(MOTOR_RIGHT);
ToSendDataBuffer.DATA[0] = dword.byte.MB;
ToSendDataBuffer.DATA[1] = dword.byte.UB;
ToSendDataBuffer.DATA[2] = dword.byte.HB;
ToSendDataBuffer.DATA[3] = dword.byte.LB;
- writeCommand(MOTOR_LEFT, LM_CMD_RDRP);
- dword.word.HW = readDataWord(MOTOR_LEFT);
- dword.word.LW = readDataWord(MOTOR_LEFT);
-
+ dword.Val = getRealPosition(MOTOR_LEFT);
ToSendDataBuffer.DATA[4] = dword.byte.MB;
ToSendDataBuffer.DATA[5] = dword.byte.UB;
ToSendDataBuffer.DATA[6] = dword.byte.HB;
@@ -781,6 +775,7 @@ void ProcessIO(void) {
ToSendDataBuffer.DATA[1] = dword.byte.UB;
ToSendDataBuffer.DATA[2] = dword.byte.HB;
ToSendDataBuffer.DATA[3] = dword.byte.LB;
+
dword.Val = getRealVelocity(MOTOR_LEFT);
ToSendDataBuffer.DATA[4] = dword.byte.MB;
ToSendDataBuffer.DATA[5] = dword.byte.UB;
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 743ff8e..cbcaeca 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 4faf3af..aa7754f 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,18 +1,18 @@
:020000040000FA
-:0600000025EF31F01200B3
+:060000000AEF31F01200CE
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:0608000025EF31F01200AB
-:060808007CEF10F012006D
-:06081800E4EF10F01200F5
-:06082A000400DD62000085
-:100830002601000021000000D56200005F010000D9
-:1008400008000000C7620000470100000E00000021
-:0C085000C46200006A0100000300000008
-:04085C0015EC0DF09A
+:060800000AEF31F01200C6
+:0608080079EF10F0120070
+:06081800E1EF10F01200F8
+:06082A000400A7620000BB
+:1008300026010000210000009F6200005F0100000F
+:100840000800000091620000470100000E00000057
+:0C0850008E6200006A010000030000003E
+:04085C001BEC0DF094
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
-:1008800095881AEF0DF0D9CFE6FFE1CFD9FFE652F8
+:10088000958820EF0DF0D9CFE6FFE1CFD9FFE652F2
:10089000010EE66EE3DFE5528098FE0EDB5004E0C9
:1008A000FE0EDB5002080FE1839C808A0000839ECD
:1008B0000000000000008450010BDF6E838E0000FA
@@ -98,1398 +98,1394 @@
:100DB000F3CF00F08250400B01E0010E800DF350A4
:100DC0000010011002100310041005100610DF6E51
:100DD000838EDF5000D0E552E552E7CFD9FF1200F5
-:100DE00015EC0DF0E652DF6A58EC0DF0DF6EFD0EEB
+:100DE0001BEC0DF0E652DF6A5EEC0DF0DF6EFD0EDF
:100DF000DB50DF14DF6EDF5002E0010E01D0000E89
-:100E0000E5521AEF0DF015EC0DF01D0EA9EC0CF0EB
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-:100E4000E552EDD71C0EA9EC0CF00A0E83EC0FF066
-:100E500008EC0EF058EC0DF0800804E058EC0DF0B2
-:100E6000C008E5E158EC0DF0C00802E108EC0EF016
-:100E70001E0EA9EC0CF00F0E83EC0FF035EC10F009
-:100E8000FA0EDBCFE6FFFB0E25EC0FF0F80EDBCF02
-:100E9000E6FFF90E25EC0FF0F60EDBCFE6FFF70EBE
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-:100EB0000DF0080EE126010E04EC0DF0010EE7CF57
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-:100EF00004EC0DF0040EE7CFDBFF070E04EC0DF061
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